/**
 ******************************************************************************
 * @file    BR_ChassisMotion.h
 * @author  FSF
 * @date    2019/12/30
 * @brief   舵轮底盘运动学
 ******************************************************************************
 * @note
 ******************************************************************************
 */
#ifndef BR_CHASSIS_MOTION_H
#define BR_CHASSIS_MOTION_H

#define SELF_TURN_VEL_X_K BR_configCHASSIS_Y / COMPOUND(BR_configCHASSIS_X, BR_configCHASSIS_Y)
#define SELF_TURN_VEL_Y_K BR_configCHASSIS_X / COMPOUND(BR_configCHASSIS_X, BR_configCHASSIS_Y)

void BR_vChassisMotionControl(float Vel, float Dir, float Omega);
void BR_vWheelsControl(float *WheelsVel, float *WheelsDir);

#endif
